WO2021047371A1 - Dispositif de blocage sous pression de fluide - Google Patents

Dispositif de blocage sous pression de fluide Download PDF

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Publication number
WO2021047371A1
WO2021047371A1 PCT/CN2020/110348 CN2020110348W WO2021047371A1 WO 2021047371 A1 WO2021047371 A1 WO 2021047371A1 CN 2020110348 W CN2020110348 W CN 2020110348W WO 2021047371 A1 WO2021047371 A1 WO 2021047371A1
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WO
WIPO (PCT)
Prior art keywords
locking
hollow sleeve
wall
degrees
assembly
Prior art date
Application number
PCT/CN2020/110348
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English (en)
Chinese (zh)
Inventor
丁起武
Original Assignee
丁起武
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Publication date
Application filed by 丁起武 filed Critical 丁起武
Publication of WO2021047371A1 publication Critical patent/WO2021047371A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
    • F16B7/04—Clamping or clipping connections
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F16C11/0666—Sealing means between the socket and the inner member shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/10—Arrangements for locking
    • F16C11/103—Arrangements for locking frictionally clamped
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/10—Arrangements for locking
    • F16C11/103—Arrangements for locking frictionally clamped
    • F16C11/106—Arrangements for locking frictionally clamped for ball joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/02—Sealings between relatively-stationary surfaces
    • F16J15/06—Sealings between relatively-stationary surfaces with solid packing compressed between sealing surfaces
    • F16J15/061—Sealings between relatively-stationary surfaces with solid packing compressed between sealing surfaces with positioning means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B2200/00—Constructional details of connections not covered for in other groups of this subclass
    • F16B2200/91—Use of a pneumatic action

Definitions

  • the invention relates to a mechanical locking device, in particular to a fluid pressure locking device.
  • a number of short rods or short pipes are sequentially connected to obtain a long rod or long tube as a whole, and the obtained structure can be a variety of structures according to requirements and application scenarios.
  • Figure 1 it is a common structure of a long rod.
  • one end of the long rod can be fixed, and the other end can be used as a movable end to connect with tools (lighting indicators, reflectors, hooks, etc.).
  • the short rods are connected and locked by the cooperation of screws, screw rods and nuts, or realized by means of articulation, welding, etc.
  • the connection and adjustment between the adjacent short rods and the short rods can only be locked by operating nuts and screws, which is labor-intensive, time-consuming and labor-intensive.
  • the purpose of the present invention is to solve the above-mentioned problems and provide a fluid pressure locking device with a simple structure.
  • the connecting rod as a hollow structure, the locking torque generated by the rapid transmission of fluid in the fluid channel can be used to reduce The N locking components are locked and unlocked synchronously, so that the connecting rods connected with the locking components are also locked synchronously.
  • the locking time can be within the range of 1 second from the traditional 10s or more, and the locking is fast.
  • a fluid pressure locking device includes a power component, a piece to be locked and N locking components.
  • the N locking components are connected in sequence.
  • the first locking component connected to the power component is the start-end locking component, and the Nth locking component is the
  • the end locking component, the part to be locked is installed on the end locking component or connected to the end locking component by pushing the component; two adjacent locking components are connected by a connecting rod, and the inside of the connecting rod is a hollow structure ;
  • the N is an integer ⁇ 1;
  • Each locking assembly includes a hollow sleeve body, an inner connecting head, a locking body, and a first sealing ring.
  • the inner connecting head is installed in the hollow sleeve body, and the locking body is partially inserted into the hollow sleeve body and installed in the hollow sleeve.
  • On the body the locking body and the inner connecting head are separated from each other, and the end of the locking body in the hollow sleeve body has a gap with the end of the inner connecting head, and through holes are penetrated inside the locking body and the inner connecting head.
  • the first sealing ring is sleeved on the locking body and located between the outer wall of the locking body and the inner wall of the hollow sleeve body;
  • the power assembly communicates with the inner connecting head of the starting end locking assembly through a connecting rod, the locking body of the starting end locking assembly communicates with the next locking assembly through the connecting rod, and the through holes in each locking body assembly communicate with the inside of each connecting rod.
  • a fluid channel is formed, the power component injects fluid into the fluid channel and generates a locking force in the fluid channel, and each locking component performs a locking or unlocking action under the control of the locking force to synchronously lock the N locking components Or unlock; in the unlocked state, the locking body can swing at an angle ⁇ in the longitudinal space of the hollow sleeve arbitrarily and/or can rotate along the inner wall of the hollow sleeve in the cross-sectional direction of the hollow sleeve from 0 to 360 degrees.
  • the inner diameter of the hollow sleeve body is arranged from one end to the other end in order from large to small, including a large-diameter end and a small-diameter end, and the end of the small-diameter end is set with a curved surface or a tapered surface;
  • the inner connecting head is located at the large-diameter end, and the locking body is arranged at the small-diameter end;
  • the locking body is a locking sphere with a through hole passing through it.
  • the locking sphere In the unlocked state, the locking sphere can swing at an angle ⁇ in the longitudinal space of the hollow sleeve arbitrarily, and the swing range of the angle ⁇ is 0 to 60 degrees or 90 degrees. To 174 degrees; the locking sphere in the non-locking state can also rotate 0 to 360 degrees along the circumferential direction of the inner wall of the hollow sleeve in the cross-sectional direction of the hollow sleeve.
  • the outer wall of the locking sphere is tangent to the inner wall of the hollow sleeve, and each tangent extends to the outside of the hollow sleeve to intersect to obtain a cone.
  • the cone angle of the cone is ⁇ A, 3 Degree ⁇ A ⁇ 20 degrees.
  • the inner wall of the large-diameter end of the hollow sleeve body is provided with a limiting thread, the limiting thread is arranged away from the locking body, and the outer wall of the inner connector is provided with a thread matching the limiting thread .
  • the locking assembly further includes a second sealing ring for sealing the large-diameter end, a groove is provided around the outer wall of the inner connector, and the second sealing ring is installed in the groove.
  • the locking body is a cylindrical structure or a cone structure with a through hole penetrating the inside.
  • the locking body In the unlocked state, the locking body can be positioned in the cross-sectional direction of the hollow sleeve body. Rotate from 0 to 360 degrees in the circumferential direction of the inner wall of the hollow sleeve body.
  • the locking body is a truncated cone body with a through hole through it.
  • the locking body In the unlocked state, the locking body can be along the hollow sleeve body in the cross-sectional direction of the hollow sleeve body.
  • the inner wall rotates 0 to 360 degrees circumferentially.
  • the locking components are first connected in series, or in parallel, or mixed in series and parallel, and then connected between two adjacent connecting rods. between.
  • the fluid is a high-pressure gas or a flowable liquid.
  • the power assembly includes an air storage tank, an air compressor, a two-position three-way solenoid valve and a pressure stabilization system, the input end of the air compressor is connected to the air storage tank, and the two-position three-way solenoid valve
  • the inlet of the two-position three-way solenoid valve is connected with the output end of the air compressor
  • the outlet of the two-position three-way solenoid valve is connected with the inner connector on the starting end locking assembly through a connecting rod
  • the exhaust port of the two-position three-way solenoid valve is installed with the pressure stabilizer System
  • the two-position three-way solenoid valve is connected to a control switch.
  • the connecting rod and the locking component are made of stainless steel or other hard metal materials.
  • the part to be locked may specifically be a laparoscope, a suction cup, a hook or other tools required by the application site.
  • the present invention has the following beneficial effects:
  • the locking device of the present invention is mainly composed of a power component, a piece to be locked and N locking components. Two adjacent locking components are connected by a connecting rod, and the inside of the connecting rod is a hollow structure; the N It is an integer ⁇ 1; and each locking component includes a hollow sleeve body, an inner connecting head, a locking body, a first sealing ring and a second sealing ring.
  • the fluid channel When in use, the fluid channel is quickly filled with gas or liquid with a certain pressure through a power component (such as an air compressor with a gas storage tank), and each locking component is subjected to the interaction of the internal air pressure and the external atmospheric pressure to generate a pressure
  • the pressure difference pushes the lock body to the low pressure part, and the pressure difference is decomposed in the direction perpendicular to the fluid channel to obtain a static friction force.
  • the static friction force is multiplied by the cross-sectional length of the lock body to obtain the static friction torque of the lock body, Equivalent to locking torque. That is, through the control of the power components, synchronous locking or unlocking of each locking component is realized synchronously, and the locking time can be reduced from more than 10 seconds in the traditional way to less than 1 second.
  • the locking is quick and quick and the operation is simple.
  • the locking device of the present invention sets the locking assembly mainly composed of the hollow sleeve body, the inner connecting head, the locking body, and the first sealing ring into different structures according to the usage scenarios and requirements. Specifically, the structure of the locking body is different. Different (divided into sphere, cylinder, cone, or truncated cone), in the unlocked state, no matter what kind of structure the locking body can be along the inner wall circumferential direction of the hollow sleeve in the cross-sectional direction of the hollow sleeve Rotate from 0 to 360 degrees.
  • the locking body When the locking body is a spherical structure, the locking body can swing at an angle ⁇ in the longitudinal space of the hollow sleeve arbitrarily, and assuming that the range of the angle that a single locking assembly can swing is K, then the N locking assemblies are connected in series to obtain
  • the adjustable range of the locking device is (N-1) ⁇ K, so the to-be-locked piece installed on the end locking assembly can be adjusted according to actual needs, with high flexibility and wide angle adjustment range, making it more convenient to use.
  • the locking assembly of the present invention is provided with a first sealing ring and a second sealing ring.
  • the first sealing ring can close the small diameter end of the hollow sleeve body, and the second sealing ring can close the large diameter end of the hollow sleeve body, so Under the action of the first sealing ring and the second sealing ring, the fluid in the fluid channel will not leak, and the external air pressure cannot enter the fluid channel, ensuring that the entire fluid channel is in a completely enclosed space, and the entire locking device is safer and more stable. durable.
  • the locking device of the present invention uses the principle of the pressure generated by the fluid itself and the external atmospheric pressure to realize the synchronous locking of the N connecting rods. There is no need to add complex electrical components such as cylinders and motors to each locking component.
  • the overall structure is simple, low cost.
  • Fig. 1 is a schematic structural diagram of a long rod obtained by connecting several short rods in the prior art.
  • Fig. 2 is a schematic diagram of a structure of a fluid pressure locking device of the present invention.
  • Fig. 3 is a schematic cross-sectional structure diagram of a single locking assembly.
  • Fig. 4 is another schematic cross-sectional structure diagram of a single locking assembly.
  • Fig. 5 is a schematic diagram of another cross-sectional structure of a single locking assembly.
  • Fig. 6 is a schematic cross-sectional structure diagram of two locking components connected in reverse series.
  • Fig. 7 is a schematic cross-sectional structure diagram of two locking components connected in parallel.
  • Fig. 8 shows a schematic structural view of the force-locking principle of the locking assembly.
  • Fig. 9 is a schematic diagram of a state in which a single locking assembly swings.
  • Figure 10-1 is a schematic diagram of the state of a single locking assembly before swinging.
  • Fig. 10-2 is a schematic diagram of the state of the single locking assembly in Fig. 10-1 after swinging.
  • the labels in the figure are: 1. connecting rod, 2. locking assembly, 2-1, hollow sleeve body, 2-2, inner connecting head, 2-3, locking body, 2-4, first sealing ring, 2-5 , The second sealing ring, 3. The part to be locked, 4.
  • the power assembly 5.
  • the through hole 6.
  • the gap 7.
  • the limit thread 8.
  • a fluid pressure locking device includes a power assembly 4, a piece to be locked 3, and N locking assemblies 2.
  • the N locking assemblies 2 are connected in sequence, and the first locking assembly connected to the power assembly 4 2 is used as the starting end locking component, the N-th locking component 2 is used as the end locking component, and the to-be-locked piece 3 is connected to the end locking component by pushing the component or is directly installed on the end locking component.
  • the pushing assembly may be composed of a piston, a cylinder, a piston rod, and a one-way valve.
  • the pushing assembly receives the fluid delivered by the locking body 2-3 on the end locking assembly 2, and is controlled by the fluid
  • the pushing component clamps or fixes the piece to be locked.
  • Two adjacent locking assemblies 2 are connected by a connecting rod 1, and the inside of the connecting rod 1 is a hollow structure; the N is an integer ⁇ 1.
  • the part to be locked 3 may specifically be a laparoscope, a suction cup, a hook, or other tools required by applications.
  • Each locking assembly 2 includes a hollow sleeve body 2-1, an inner connecting head 2-2, a locking body 2-3, and a first sealing ring 2-4.
  • the inner connecting head 2-2 is mounted on the hollow sleeve body 2. -1.
  • the locking body 2-3 is partially inserted into the hollow sleeve body 2-1 and installed on the hollow sleeve body 2-1.
  • the locking body 2-3 and the inner connecting head 2-2 are arranged separately from each other, and there is a gap 6 between the end of the locking body 2-3 in the hollow sleeve body 2-1 and the end of the inner connecting head 2-2.
  • a through hole 5 penetrates through the inside of the locking body 2-3 and the inner connecting head 2-2.
  • the first sealing ring 2-4 is sleeved on the locking body 2-3 and located between the outer wall of the locking body 2-3 and the inner wall of the hollow sleeve body 2-1.
  • the locking body 2-3 and the inner connecting head 2-2 need to be fixed on the hollow sleeve body 2-1 by means of screws, screws or welding.
  • connection between each inner connecting head 2-2 and the connecting rod 1 and the connection between each locking body 2-3 and the connecting rod 1 are all tight connections, no fluid leakage, and rigid connections in a sealed state.
  • the power assembly 4 communicates with the inner connecting head 2-2 of the starting end locking assembly through the connecting rod 1, and the locking ball of the starting end locking assembly communicates with the next locking assembly 2 through the connecting rod 1.
  • the through hole 5 in each locking assembly communicates with the inside of each connecting rod 1 to form a fluid channel.
  • the power component 4 injects fluid into the fluid channel, and the locking or unlocking action of each locking component 2 is controlled by the locking force generated by the fluid in the fluid channel, so as to lock or unlock each N locking component 2 synchronously.
  • the locking body In the non-locked state, the locking body can swing at an angle ⁇ in the longitudinal space of the hollow sleeve body 2-1 and/or can move along the hollow sleeve body 2-1 in the cross-sectional direction of the hollow sleeve body 2-1.
  • the inner wall rotates 0 to 360 degrees in the circumferential direction.
  • the locking body 2-3 is a locking sphere with a through hole 5 passing through the inside.
  • the swing range of the ⁇ angle is 0 to 60 degrees or 90 to 174 degrees.
  • the locking sphere in the non-locking state can not only swing in the longitudinal space, but also can rotate 0 to 360 degrees along the circumferential direction of the inner wall of the hollow sleeve 2-1 in the cross-sectional direction of the hollow sleeve 2-1.
  • the adjustable angle range of a single locking assembly 2 is K
  • the adjustable range of the locking device obtained by connecting N connecting rods 1 in sequence is (N-1) ⁇ K.
  • the locking sphere moves from the center position to the longitudinal space of the hollow sleeve 2-1.
  • the right inner wall of the hollow sleeve body 2-1 swings by an angle ⁇ , and the swing range is 0 to 60 degrees. That is, no matter which direction the locking sphere swings in, the angle ⁇ from the center of the hollow sleeve body 2-1 to the inner wall of the hollow sleeve body 2-1 is 0 to 60 degrees.
  • the size of the ⁇ angle is related to the size of the connecting rod and the size of the locking angle ⁇ A. According to the research of the present inventor, the ⁇ angle in this case has the best locking effect in the range of 45 to 50 degrees.
  • the locking sphere swings from one side of the inner wall of the hollow sleeve body 2-1 to the other side of the inner wall of the hollow sleeve body 2-1, as shown in Figure 10-1 and Figure 10-2 Shown.
  • the inner wall of the hollow sleeve body 2-1 swings by an angle of ⁇ , the maximum value of this angle, that is, the angle ⁇ is 90 to 174 degrees.
  • the size of the ⁇ angle is related to the size of the connecting rod and the size of the locking angle ⁇ A. According to the research of the present inventor, the ⁇ angle in this case is more practical in the range of 90 to 100 degrees.
  • the inner diameter of the hollow sleeve body 2-1 is set in order from one end to the other end. It includes a large-diameter end and a small-diameter end, and the end of the small-diameter end is provided with a curved surface or a conical surface.
  • the inner connecting head 2-2 is located at the large-diameter end, and the locking body 2-3 is provided at the small-diameter end.
  • the hollow sleeve 2-1 is designed to be large at one end and small at the other end, so that the locking sphere can penetrate from the large-diameter end during installation, but the locking sphere cannot slide out from the small-diameter end and is sealed by the first on the small-diameter end. Loops 2-4 are fixed.
  • the outer wall of the locking body 2-3 is tangent to the inner wall of the hollow sleeve body 2-1, and each tangent line is directed toward the hollow sleeve body 2-1.
  • the outer part is successively extended until it intersects, and a cone is obtained.
  • the cone angle of the cone is ⁇ A, 3 degrees ⁇ A ⁇ 20 degrees. Designing the locking sphere with this parameter can significantly increase the locking torque, and the locking is firmer, and the locking assembly 2 will not be locked when the locked state is changed to the unlocked state.
  • the inner wall of the large-diameter end of the hollow sleeve body 2-1 is provided with a limiting thread 7, the limiting thread 7 is arranged away from the locking body 2-3, and the outer wall of the inner connecting head 2-2 is provided with Thread that matches the limit thread 7.
  • the limit thread 7 is used to play a role of locking when the inner connecting head 2-2 is installed, so that the inner connecting head 2-2 and the locking body 2-3 always maintain the set gap 6 distance.
  • the locking assembly further includes a second sealing ring 2-5 for sealing the large-diameter end, and a groove is provided around the outer wall of the inner connector 2-2, The second sealing ring 2-5 is installed in the groove.
  • the first sealing ring 2-4 and the second sealing ring 2-5 are both wear-resistant soft O-rings, and the first sealing ring 2-4 locks the hollow sleeve body 2 at the end of the locking body 2-3. -1 seal, the second seal ring 2-5 seals the hollow sleeve body 2-1 at the end of the inner connector 2-2. Under the cooperative use of the first seal ring 2-4 and the second seal ring 2-5, It can ensure that the entire fluid channel is in a completely sealed environment, so the locking stability of the locking device can be ensured. In addition, the arrangement of the first sealing ring 2-4 can also ensure that when the locking body 2-3 is in a rotating/swinging state, the hollow sleeve body 2-1 can be kept sealed all the time.
  • the locking components 2 when the number of the locking components 2 is ⁇ 2, the locking components 2 are connected in series, or in parallel, or mixed in series and parallel, and then connected to two adjacent connections. Between rod 1.
  • the number of the locking assembly 2 is generally one to achieve the locking purpose. Two or more than two are used to improve the flexibility of the adjustment angle of the entire locking device or to meet the needs of the application scenario.
  • FIG. 6 it is a schematic diagram of the reverse series connection of two locking components 2, which of course can also be forward connected in series.
  • Figure 7 it is a schematic diagram of the parallel connection of two locking components.
  • the locking body 2-3 is a sphere, the adjustment and swing combination of the angle of the single link 1 is more flexible, that is, the single locking component 2 can
  • the adjustable angle range can be changed from the original K to 2K, and the adjustable range of the locking device obtained by sequentially connecting the N locking components 2 is 2(N-1) ⁇ K.
  • the connection modes of more than three locking components 2 are not listed here, and everything within the scope of the present invention falls into the protection scope of the present invention.
  • the fluid is specifically a high-pressure gas or a flowable liquid
  • the flowable liquid may specifically be water or other liquids.
  • the connecting rod 1, the locking body 2-3, the inner connecting head 2-2 and the hollow sleeve body 2-1 are preferably made of stainless steel or other hard metal materials.
  • the power assembly 4 includes an air storage tank, an air compressor, a two-position three-way solenoid valve and a pressure stabilization system.
  • the input end of the air compressor is connected to the air storage tank, and the inlet of the two-position three-way solenoid valve is connected to The output end of the air compressor is connected, the outlet of the two-position three-way solenoid valve is connected to the inner connector on the starting end locking assembly through the connecting rod 1, and the pressure stabilization system is installed at the exhaust port of the two-position three-way solenoid valve;
  • the two-position three-way solenoid valve is connected with a control switch.
  • the diameter of the locking sphere is 20 mm, and the cone angle ⁇ A is 8 degrees.
  • the air compressor is energized and generates air pressure
  • the two-position three-way solenoid valve is opened, and under the control of the pressure stabilization system, a pressure of 2.0mpa is sent to the hollow structure connecting rod 1. 1 and each locking assembly 2 are communicated with each other through a fluid channel, and the pressure of 2.0 mpa is quickly transmitted to each connecting rod 1 in turn.
  • the locking body 2-3 on each locking assembly 2 is subjected to a locking torque of 27 Newton meters, that is, in the airtight
  • a locking torque of 27 Newton meters that is, in the airtight
  • the locking spheres can be locked at the same time, so that the connecting rods 1 can be locked.
  • the solenoid valve can be locked or unlocked within 0.1 seconds by controlling the power-on and power-off of the solenoid valve, and it has three joints of shoulder, elbow and wrist that exceed humans. Degrees of freedom of the series system.
  • the schematic diagram of the principle of force locking of the locking body 2-3 is shown in Figure 8: the center of the sphere is O1, and CD is the diameter of the sphere (that is, the installation position of the first sealing ring 2-4), The radius is R1, the contact point of the contact surface between the sphere and the hollow sleeve body 2-1 is taken as the tangent point, and the tangent line is extended to the outside of the hollow sleeve body 2-1 and intersects at point A to obtain a cone.
  • the center of the tangent circle shown in FIG. 8 is O2, EF is the diameter, and the radius R2 is a schematic cross-sectional structure diagram of the cone.
  • EF is parallel to CD, and the cone angle of the cone is ⁇ A, 3 degrees ⁇ A ⁇ 20 degrees.
  • the parameters of the two circles are specifically: the length of O1 to O2 is 0.026 to 0.174 times of R1, and R2 is 0.99965 to 0.98481 times of R1.
  • the inventor has made the model of the present invention based on the above parameters.
  • the lock/unlock action can be performed by operating a control switch. The response is quick, the lock time can be increased by 10 times compared with the traditional one, and the lock efficiency is extremely significant.
  • the sphere When the locking body 2-3 in the locking assembly 2 is a sphere, the sphere is divided into two mutually sealed parts by the first sealing ring 2-4, and the connecting part with the fluid channel is connected to the pressure fluid, resulting in a pressure difference f1. The difference pushes the sphere to the low pressure part. Due to the taper, the produced n times ( ⁇ A is 38.2 times to 5.7 times when 3 degrees to 20 degrees) is perpendicular to the spherical surface of the ball head, and the resulting static friction force is equal to Multiply f2 by the coefficient of friction.
  • the static friction force multiplied by the radius of the sphere is equal to the static friction torque, which is equivalent to the locking torque, that is, the power assembly 4 is activated, the fluid channel is filled with air pressure instantly, and then the spheres on each locking assembly 2 are sequentially forced to generate a locking torque. Locked, each connecting rod 1 is locked instantly after being adjusted to an appropriate angle.
  • the locking point of the fluid pressure locking assembly 2 (that is, the contact point between the sphere and the hollow sleeve body 2-1) is located in a circle close to the largest circle of the locking sphere, which is different from the common ejector locking method. Specifically, the top of the locking assembly is locked. The top of the rod is different on one surface of the ball head. Whether it is rotating or swinging around the long axis of the connecting rod 1, the locking torque in each direction is approximately equal, and the locking is stable and reliable.
  • the locking device in this embodiment also has the following significant advantages: 1. It can swing 0 to 60 degrees in the longitudinal direction of the hollow sleeve body 2-1 in the unlocked state. Or 90 to 174 degrees; 2.
  • the locking sphere in the non-locking state can not only swing in the longitudinal space, but also along the inner wall of the hollow sleeve 2-1 in the cross-sectional direction of the hollow sleeve 2-1 Circumferential rotation 0 to 360 degrees.
  • the locking device has a large adjustment angle for the connecting rod 1 and high flexibility. Therefore, in the use process, the position adjustment/angle adjustment of the locking member is more flexible, practical, and quick.
  • the difference in embodiment 1 is: the locking body 2-3 is a cylindrical structure or a cone structure with a through hole 5 through it, and the connecting rod 1 in the unlocked state can be wound with
  • the connected locking body 2-3 rotates 0 to 360 degrees in the circumferential direction. That is to say, the locking device of this structure is also under the control of the power assembly 4 during operation, and realizes instant locking or unlocking of the locking body 2-3 by filling/retracting fluid into the fluid channel. Because the structure of the locking body 2-3 is different, the adjustment angle of the connecting rod 1 is different.
  • the locking body 2-3 of this structure can only be in the unlocked state, and the connecting rod 1 can be wound around the connecting rod 1
  • the locking body 2-3 rotates 0 to 360 degrees in the circumferential direction. Although it cannot be adjusted up and down to a certain range, its implementation structure is simpler than that of a sphere, which can meet the needs of some application scenarios.
  • the locking body 2-3 is a truncated cone body with a through hole 5 through the inside, and the connecting rod 1 in the non-locking state can be wound around the lock connected to it.
  • the body 2-3 rotates 0 to 360 degrees in the circumferential direction. That is to say, the locking device of this structure is also under the control of the power assembly 4 during operation, and realizes instant locking or unlocking of the locking body 2-3 by filling/retracting fluid into the fluid channel. Because the structure of the locking body 2-3 is different, the adjustment angle of the connecting rod 1 is different.
  • the locking body 2-3 of this structure can only be in the unlocked state, and the connecting rod 1 can be wound around the connecting rod 1
  • the locking body 2-3 rotates 0 to 360 degrees in the circumferential direction. Although it cannot be adjusted up and down to a certain range, its implementation structure is simpler than that of a sphere, which can meet the needs of some application scenarios.
  • the composition mechanism of the locking device does not have a large range of angle adjustment in the non-locking state
  • its working principle is the same as that of the embodiment 1. It is operated by operating a control switch during operation.
  • the locking/unlocking action of the entire device can be realized, the response is fast, the locking time can be increased by 10 times compared with the traditional one, the locking efficiency is extremely significant, and there are still technological breakthroughs.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mutual Connection Of Rods And Tubes (AREA)

Abstract

L'invention concerne un dispositif de blocage sous pression de fluide, comprenant un élément à bloquer (3), un ensemble d'énergie (4) et N bielles (1). L'intérieur de chaque bielle (1) présente une structure creuse. Les N bielles (1) sont reliées en séquence. N est un nombre entier supérieur ou égal à 2. L'extrémité de tête de la première bielle (1) est reliée à l'ensemble d'énergie (4), et l'extrémité de queue de la N-ième bielle (1) est fermée et dotée de l'élément à bloquer (3). Un ensemble de blocage (2) est monté entre chaque paire de bielles (1) adjacentes. L'ensemble de blocage (2) comprend un corps de manchon creux (2-1), un raccord interne (2-2), un corps de blocage (2-3), un premier anneau d'étanchéité (2-4) et un second anneau d'étanchéité (2-5). Le dispositif de blocage permet de bloquer ou de débloquer toutes les bielles de manière synchrone, et le temps de blocage peut être diminué des 10 secondes classiques ou plus à environ 1 seconde, le blocage est rapide et le fonctionnement est facile; en outre, lors de l'utilisation, du fait que les bielles peuvent être réglées, la flexibilité d'utilisation est élevée, et la plage de réglage d'angle est grande.
PCT/CN2020/110348 2019-09-11 2020-08-20 Dispositif de blocage sous pression de fluide WO2021047371A1 (fr)

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